mirror of https://github.com/ArduPilot/ardupilot
55 lines
2.5 KiB
C++
55 lines
2.5 KiB
C++
#pragma once
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#include <AP_Common/AP_Common.h>
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#include <AP_Common/Location.h>
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#include <AP_Math/AP_Math.h>
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#include <AP_HAL/AP_HAL.h>
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/*
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* BendyRuler avoidance algorithm for avoiding the polygon and circular fence and dynamic objects detected by the proximity sensor
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*/
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class AP_OABendyRuler {
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public:
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AP_OABendyRuler() {}
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/* Do not allow copies */
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AP_OABendyRuler(const AP_OABendyRuler &other) = delete;
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AP_OABendyRuler &operator=(const AP_OABendyRuler&) = delete;
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// send configuration info stored in front end parameters
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void set_config(float lookahead, float margin_max) { _lookahead = MAX(lookahead, 1.0f); _margin_max = MAX(margin_max, 0.0f); }
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// run background task to find best path and update avoidance_results
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// returns true and populates origin_new and destination_new if OA is required. returns false if OA is not required
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bool update(const Location& current_loc, const Location& destination, const Vector2f &ground_speed_vec, Location &origin_new, Location &destination_new);
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private:
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// calculate minimum distance between a path and any obstacle
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float calc_avoidance_margin(const Location &start, const Location &end);
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// calculate minimum distance between a path and the circular fence (centered on home)
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// on success returns true and updates margin
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bool calc_margin_from_circular_fence(const Location &start, const Location &end, float &margin);
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// calculate minimum distance between a path and all inclusion and exclusion polygons
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// on success returns true and updates margin
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bool calc_margin_from_inclusion_and_exclusion_polygons(const Location &start, const Location &end, float &margin);
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// calculate minimum distance between a path and all inclusion and exclusion circles
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// on success returns true and updates margin
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bool calc_margin_from_inclusion_and_exclusion_circles(const Location &start, const Location &end, float &margin);
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// calculate minimum distance between a path and proximity sensor obstacles
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// on success returns true and updates margin
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bool calc_margin_from_object_database(const Location &start, const Location &end, float &margin);
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// configuration parameters
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float _lookahead; // object avoidance will look this many meters ahead of vehicle
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float _margin_max; // object avoidance will ignore objects more than this many meters from vehicle
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// internal variables used by background thread
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float _current_lookahead; // distance (in meters) ahead of the vehicle we are looking for obstacles
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};
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